File size: 2,578 Bytes
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"name": "policy_preprocessor",
"steps": [
{
"registry_name": "rename_observations_processor",
"config": {
"rename_map": {}
}
},
{
"registry_name": "to_batch_processor",
"config": {}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
},
{
"registry_name": "cosmos3_idle_frame_processor",
"config": {
"action_feature_names": null,
"fps": null,
"use_state": true,
"idle_state": true,
"translation_threshold": 0.005,
"rotation_threshold": 0.026179938779914945,
"gripper_threshold": 0.01,
"joint_threshold": 0.005,
"min_streak": 3
}
},
{
"registry_name": "normalizer_processor",
"config": {
"eps": 1e-08,
"features": {},
"norm_map": {
"VISUAL": "IDENTITY",
"STATE": "IDENTITY",
"ACTION": "IDENTITY"
}
}
},
{
"registry_name": "cosmos3_video_canvas_processor",
"config": {
"camera_keys": [],
"view_size": null,
"fps": null,
"chunk_size": 32,
"temporal_compression": 4,
"spatial_compression": 16
}
},
{
"registry_name": "cosmos3_prompt_processor",
"config": {
"view_description": "The top row is from the wrist-mounted camera. The bottom row contains two horizontally concatenated third-person perspective views of the scene from opposite sides, with the robot visible.",
"fps": null,
"chunk_size": 32,
"use_state": true
}
},
{
"registry_name": "cosmos3_tokenizer_processor",
"config": {
"tokenizer_name": "tokenizer",
"cfg_dropout_rate": 0.1
},
"artifacts": {
"tokenizer_name": "tokenizer"
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
}
]
}
|